{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Maps in BARK\n",
    "\n",
    "This notebook provides a short introduction to the map-format used in BARK.<br />\n",
    "First, we will go into detail of the OpenDrive format, then we will give an overview of how to import and analyze maps and, finally, how they can be used and accessed within BARK.<br />\n",
    "BARK extends the OpenDrive format by using a Roadgraph, MapInterface and Road- and Lane-Corridors.\n",
    "\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## OpenDrive Format\n",
    "\n",
    "Each map-file is represented in the OpenDrive format in which roads, junctions, and lanes are defined.\n",
    "\n",
    "Each Road in the OpenDrive format has a PlanView that provides a geometric definition of the road (so to speak a center-line).\n",
    "```xml\n",
    "<planView>\n",
    "   <geometry s=\"0\" x=\"0\" y=\"0\" hdg=\"1.5707963267987366e+00\" length=\"100\">\n",
    "      <line/>\n",
    "   </geometry>\n",
    "</planView>\n",
    "```\n",
    "The geometries with which the PlanView is defined are eithe lines, arcs or spirals.\n",
    "\n",
    "Each Road has one or multiple LaneSections that define lanes for a certain length of the Road.\n",
    "Within a LaneSection the number of lanes is constant.\n",
    "\n",
    "A LaneSection has one or multiple lanes that are initially derived from the PlanViews geometry and then recursively from the inner lane's line.\n",
    "```xml\n",
    "<laneSection s=\"0.0000000000000000e+00\">\n",
    "   <lane id=\"3\" type=\"sidewalk\" level= \"false\">\n",
    "      <link>\n",
    "         <predecessor id=\"-1\"/>\n",
    "         <successor id=\"-1\"/>\n",
    "      </link>\n",
    "      <width sOffset=\"0\" a=\"1.5\" b=\"0\" c=\"0\" d=-0\"/>\n",
    "   </lane>\n",
    "</laneSection>\n",
    "```\n",
    "The *width* tag defines the lanes line that is derived from the PlanView or the inner lane's line.\n",
    "\n",
    "Additionally, lanes and roads can have predecessors and successors.\n",
    "For more complex linking -- such as intersections -- junctions can be used.\n",
    "Junctions are defined by\n",
    "```xml\n",
    "<junction name=\"\" id=\"2\">\n",
    "   <connection id=\"0\" incomingRoad=\"8\" connectingRoad=\"4\" contactPoint=\"start\">\n",
    "      <laneLink from=\"1\" to=\"-1\"/>\n",
    "      <laneLink from=\"2\" to=\"-2\"/>\n",
    "      <laneLink from=\"3\" to=\"-3\"/>\n",
    "   </connection>\n",
    "</junction>\n",
    "```\n",
    "having lane-links and connections of the roads.\n",
    "\n",
    "BARK stores the map in exactly the same structure as the OpenDrive-format.\n",
    "The c++ implementation can be found in the folder `bark/world/opendrive/':\n",
    "\n",
    "```\n",
    "BUILD                   junction.hpp            lane_section.cpp        odrSpiral.hpp           plan_view.hpp\n",
    "commons.hpp             lane.cpp                lane_section.hpp        opendrive.hpp           road.cpp\n",
    "helpers.hpp             lane.hpp                odrSpiral.cpp           plan_view.cpp           road.hpp\n",
    "```\n",
    "\n",
    "For a more detailed specification visit the OpenDrive website at http://www.opendrive.org."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Maps in BARK\n",
    "\n",
    "To enable easier handling of the OpenDrive format, BARK implements a *RoadGraph* that contains all lane- and road-connections.<br />\n",
    "The RoadGraph provides an abstraction layer and easy-to-use interface to query the OpenDrive format -- e.g. it can be used for routing.<br />\n",
    "The implementation of the RoadGraph can be found in `bark/world/map/roadgraph.hpp'.\n",
    "\n",
    "The *MapInterface* stores and provides access to both -- the OpenDrive format and the RoadGraph.<br />\n",
    "It also generates the routing specific RoadCorridors and LaneCorridors.<br />\n",
    "Each agent in BARK has at least one RoadCorridor.\n",
    "\n",
    "The *RoadCorridor* can be seen as a route-specific OpenDrive road that the agent is allowed to act in.<br/>\n",
    "The agent can e.g. query the RoadCorridor on which lane it currently is and if there are neighboring LaneCorridors that it can change to.\n",
    "The LaneCorridors are concatenated consecutive lanes within the RoadCorridor.\n",
    "\n",
    "All these definitions can be found within the `bark/world/map/' folder."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Importing an OpenDrive Map\n",
    "\n",
    "In the following, we will load the example intersection map provided on the OpenDrive website.<br/>\n",
    "The XodrParser parses the OpenDrive xml-file and converts it to the BARK c++ OpenDrive structure."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import bark\n",
    "from bark.runtime.commons.xodr_parser import XodrParser\n",
    "xodr_parser = XodrParser(\"../../bark/runtime/tests/data/Crossing8Course.xodr\")\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## MapInterface\n",
    "In this step, we create the MapInterface that provides an easy-to-use interface for the OpenDrive structure.<br />\n",
    "As above-mentioned, the MapInterface provides a wide range of utility- and handling-functions.\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "from bark.runtime.commons.parameters import ParameterServer\n",
    "from bark.core.world import World\n",
    "from bark.core.world.map import MapInterface\n",
    "\n",
    "params = ParameterServer()\n",
    "world = World(params)\n",
    "# create the MapInterface using the parsed OpenDrive file\n",
    "map_interface = MapInterface()\n",
    "map_interface.SetOpenDriveMap(xodr_parser.map)\n",
    "world.SetMap(map_interface)\n",
    "\n",
    "# to access the original OpenDrive map\n",
    "open_drive_map = world.map.GetOpenDriveMap()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "We now can visualize the parsed map and ensure it has been created properly:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    },
    {
     "data": {
      "text/plain": [
       "<Figure size 432x288 with 0 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "from bark.runtime.viewer.matplotlib_viewer import MPViewer\n",
    "import matplotlib.pyplot as plt\n",
    "viewer = MPViewer(params=params,\n",
    "                  use_world_bounds=True)\n",
    "viewer.drawWorld(world)\n",
    "viewer.show()\n",
    "# viewer.clear()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "The c++ OpenDrive structures in BARK can be also accessed using:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "viewer = MPViewer(params=params,\n",
    "                  use_world_bounds=True)\n",
    "for idx_r, road in open_drive_map.GetRoads().items():\n",
    "    for idx_ls, lane_section in enumerate(road.lane_sections):\n",
    "        for idx_l, lane in lane_section.GetLanes().items():\n",
    "            viewer.drawXodrLane(lane)\n",
    "viewer.show()\n",
    "viewer.clear()\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "The RoadGraph can be used for querying the OpenDrive structure:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "viewer = MPViewer(params=params,\n",
    "                  use_world_bounds=True)\n",
    "roadgraph = map_interface.GetRoadgraph()\n",
    "# output the graph in dot-file\n",
    "# roadgraph.PrintGraph(output_dir + \"/\" + map_name)\n",
    "lane_ids = roadgraph.GetAllLaneids()\n",
    "\n",
    "lane_polygon = roadgraph.GetLanePolygonForLaneId(lane_ids[34])\n",
    "road_id = roadgraph.GetRoadForLaneId(lane_ids[34])\n",
    "road = map_interface.GetOpenDriveMap().GetRoad(road_id)\n",
    "plan_view_reference = road.plan_view.GetReferenceLine()\n",
    "viewer.drawXodrRoad(road)\n",
    "viewer.show()\n",
    "viewer.clear()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "A RoadCorridor can be computed by:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "from bark.core.world.opendrive import *\n",
    "viewer = MPViewer(params=params,\n",
    "                  use_world_bounds=True)\n",
    "roadgraph = map_interface.GetRoadgraph()\n",
    "map_interface.GenerateRoadCorridor([508], XodrDrivingDirection.forward)\n",
    "road_corridor = map_interface.GetRoadCorridor([508], XodrDrivingDirection.forward)\n",
    "viewer.drawRoadCorridor(road_corridor)\n",
    "\n",
    "lane_corridors = road_corridor.lane_corridors\n",
    "viewer.drawLaneCorridor(lane_corridors[0], color=\"red\")\n",
    "# map through LaneCorridors\n",
    "viewer.show()\n",
    "viewer.clear()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "The above-shown RoadCorridor can be assigned to an agent that is then acting within it using the agent's behavior model."
   ]
  }
 ],
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